Skip to content

Dual-Modal Tactile Perception and Exploration

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)1033-1040
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume3
Issue number2
Early online date17 Jan 2018
DOIs
DateAccepted/In press - 26 Dec 2017
DateE-pub ahead of print - 17 Jan 2018
DatePublished (current) - Apr 2018

Abstract

Tactile sensing is required for human-like control with robotic manipulators. Multimodality is an essential component for these tactile sensors, for robots to achieve both the perceptual accuracy required for precise control, as well as the robustness to maintain a stable grasp without causing damage to the object or the robot itself. In this study, we present a cheap, 3D-printed, compliant, dual-modal, optical tactile sensor that is capable of both high (temporal) speed sensing, analogous to pain reception in humans and high (spatial) resolution sensing, analogous to the sensing provided by Merkel cell complexes in the human fingertip. We apply three tasks for testing the sensing capabilities in both modes; first, a depth modulation task, requiring the robot to follow a target trajectory using the high-speed mode; second, a high-resolution perception task, where the sensor perceives angle and radial position relative to an object edge; and third, a tactile exploration task, where the robot uses the high-resolution mode to perceive an edge and subsequently follow the object contour. The robot is capable of modulating contact depth using the high-speed mode, high accuracy in the perception task, and accurate control using the high-resolution mode.

Download statistics

No data available

Documents

Documents

  • Full-text PDF (final published version)

    Rights statement: This is the final published version of the article (version of record). It first appeared online via IEEE at https://ieeexplore.ieee.org/document/8260847/ . Please refer to any applicable terms of use of the publisher.

    Final published version, 809 KB, PDF-document

    License: CC BY

DOI

View research connections

Related faculties, schools or groups